Rascal taking top off shoe (5)
I believe the answer is:
rogue
'rascal' is the definition.
(both can mean a scoundrel)
'top off shoe' is the wordplay.
'top off' means to remove the first letter.
'shoe' becomes 'brogue' (brogue is a type of shoe).
'brogue' with its initial letter taken away is 'ROGUE'.
'taking' is the link.
(Other definitions for rogue that I've seen before include "Scallywag" , "A dishonest or unprincipled person" , "Wild animal driven away from herd" , "Dishonest chap; solitary (elephant)" , "Charlatan" .)